/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

FlagStatus ControlSW=RESET;
uint8_t ledCount,speedtime;
uint8_t power=70;
uint16_t breakValue=2000;
uint16_t LeftSpeed=0,RightSpeed=0;
uint8_t LeftState=0x00,RightState=0x00;
uint8_t commandBuff[6],usartBuff[8]= {0X11,0X22,0xAA,0X55,0X33,0X44,0x55,0x66};
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void Stop(void);
void Round(void);
void LeftRound(void);
void RightRound(void);
void Control(void);
void GoRound(void);
void Back(void);
void 	Recive(void);
void Pack(void);
void UNBreak(void);
void BreakInit(void);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */
  

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_TIM1_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  MX_TIM8_Init();
  /* USER CODE BEGIN 2 */
		BreakInit();
    HAL_TIM_Base_Start_IT(&htim2);
    HAL_UART_Receive_DMA(&huart1, (uint8_t *)usartBuff, sizeof(usartBuff));
		HAL_Delay(500);
		Stop();
		HAL_Delay(500);
		UNBreak();
		HAL_Delay(500);
		Pack();
		HAL_Delay(500);
		UNBreak();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
    while (1)
    {


        if(ControlSW)
        {
            Recive();
            ControlSW=RESET;
            Control();
        }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void Control()
{
    switch (commandBuff[0])
    {
    case	0xAA:
    {
        if(commandBuff[1]==0x00)
        {
            UNBreak();
            Round();
        } else if(commandBuff[1]==0x11)
        {
            UNBreak();
            GoRound();
        } else if(commandBuff[1]==0x22)
        {
            UNBreak();
            Back();
        }
        break;
    }
    case	0x55:
    {
        UNBreak();
        break;
    }
    case	0xCC:
    {
        Pack();
        break;
    }
    }

}
void 	UNBreak()
{
    __HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_1,0);
    __HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_2,0);

}
void Pack()
{
    HAL_TIM_PWM_Stop(&htim1,TIM_CHANNEL_1);
    HAL_TIM_PWM_Stop(&htim1,TIM_CHANNEL_2);
    HAL_Delay(10);
    __HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_1,9000);
    __HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_2,9000);

}
void BreakInit()
{
    __HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_1,0);
    __HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_2,0);
    HAL_TIM_PWM_Start(&htim8,TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim8,TIM_CHANNEL_2);

}
void 	Round()
{
    if(commandBuff[3]==0x00)
    {
        Stop();
    } else if(commandBuff[3]==0x11)
    {
        LeftRound();
    } else if(commandBuff[3]==0x22)
    {
        RightRound();
    }
}
void LeftRound()
{

    HAL_GPIO_WritePin(GPIOE, LDIR_Pin, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOE, RDIR_Pin, GPIO_PIN_SET);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1,commandBuff[4]*power);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2,commandBuff[4]*power);
    HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);


}
void RightRound()
{

    HAL_GPIO_WritePin(GPIOE, LDIR_Pin, GPIO_PIN_SET);
    HAL_GPIO_WritePin(GPIOE, RDIR_Pin, GPIO_PIN_RESET);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1,commandBuff[4]*power);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2,commandBuff[4]*power);
    HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);

}
void GoRound()
{
    if(commandBuff[3]==0x00)
    {

        HAL_GPIO_WritePin(GPIOE, LDIR_Pin|RDIR_Pin, GPIO_PIN_RESET);
        __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1,commandBuff[2]*power);
        __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2,commandBuff[2]*power);
        HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
        HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
    } else if(commandBuff[3]==0x11)
    {

        HAL_GPIO_WritePin(GPIOE, LDIR_Pin|RDIR_Pin, GPIO_PIN_RESET);
        __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1,((commandBuff[2]-commandBuff[4])*power));
        __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2,commandBuff[2]*power);
        HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
        HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
    } else if(commandBuff[3]==0x22)
    {

        HAL_GPIO_WritePin(GPIOE, LDIR_Pin|RDIR_Pin, GPIO_PIN_RESET);
        __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1,commandBuff[2]*power);
        __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2,((commandBuff[2]-commandBuff[4])*power));
        HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
        HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
    }

}
void Back()
{

    HAL_GPIO_WritePin(GPIOE, LDIR_Pin|RDIR_Pin, GPIO_PIN_SET);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1,commandBuff[2]*power);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2,commandBuff[2]*power);
    HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);

}

void Stop()
{

    HAL_TIM_PWM_Stop(&htim1,TIM_CHANNEL_1);
    HAL_TIM_PWM_Stop(&htim1,TIM_CHANNEL_2);
    HAL_Delay(10);
    __HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_1,breakValue);
    __HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_2,breakValue);
}

void 	Recive()
{
    uint8_t cnt,count;
    for(cnt=0; cnt<8; cnt++)
    {
        if(usartBuff[cnt]==0xAA)
        {
            cnt++;
            if(usartBuff[cnt]==0x55)
            {
                cnt++;
                for(count=0; count<6; count++,cnt++)
                {
                    if(cnt<8)
                    {
                        commandBuff[count]=usartBuff[cnt];

                    } else
                    {
                        cnt=0;
                        commandBuff[count]=usartBuff[cnt];
                    }


                }
                cnt=8;

            }

        }
    }

}


void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
    if (htim->Instance == htim2.Instance)
    {

        if(ledCount<1)
        {
            ledCount++;
        } else
        {
            ledCount=0;
            ControlSW=SET;
        }

        if(speedtime<20)
        {
            speedtime++;
        } else
        {
            speedtime=0;
            LeftSpeed=0;
            RightSpeed=0;
        }

    }
}

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{

    if(GPIO_Pin==LSPEED_Pin)
    {
        LeftSpeed++;
    }
    if(GPIO_Pin==RSPEED_Pin)
    {
        RightSpeed++;
    }
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{ 
  /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
